Model-Based Reinforcement Learning for Closed-Loop Dynamic Control of Soft Robotic Manipulators.
Thomas George ThuruthelEgidio FaloticoFederico RendaCecilia LaschiPublished in: IEEE Trans. Robotics (2019)
Keyphrases
- closed loop
- robotic manipulator
- control scheme
- control system
- position control
- open loop
- feedback control
- control law
- model based reinforcement learning
- controller design
- pid controller
- guaranteed cost
- robot manipulators
- visual servoing
- control strategy
- force control
- robotic systems
- dynamic model
- fuzzy logic
- dc motor
- dynamic environments
- markov decision processes
- neural network
- degrees of freedom
- real time
- fuzzy controller
- control architecture
- nonlinear systems
- input output
- control strategies
- adaptive control
- sufficient conditions
- control method
- control algorithm